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- loadrt trivkins
- loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[KINS]JOINTS
- loadrt stepgen step_type=6
- addf parport.0.read base-thread
- addf stepgen.make-pulses base-thread
- addf pwmgen.make-pulses base-thread
- addf parport.0.write base-thread
- addf parport.0.reset base-thread
- addf stepgen.capture-position servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf stepgen.update-freq servo-thread
- addf pwmgen.update servo-thread
- net Xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
- net Xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
- net Xen joint.0.amp-enable-out => stepgen.0.enable
- net XPA <= stepgen.0.phase-A
- net XPB <= stepgen.0.phase-B
- net XPC <= stepgen.0.phase-C
- net XPD <= stepgen.0.phase-D
- setp stepgen.0.position-scale [JOINT_0]SCALE
- setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
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